Apparatus for automatic assembly of a rotor and the like

ABSTRACT

Apparatus for automatically assembling or welding parts in the form of discs such as forming a rotor of a television tuner with a shaft. The apparatus comprises a plurality of parts mounting jigs located at an equal distance from each other on a turntable driven intermittently, a shaft supply device located adjacent to the outside of the periphery of the turntable and adapted to supply shafts to the respective jigs so as to be inserted into the parts held in each of the jigs, a shaft position regulating device for causing relative angular movement between the shaft and the mating parts so that the shaft is located at a predetermined angular position with respect to the parts, a shaft position detecting device adapted to detect the axial position as well as the angular position of the shaft assembled to the parts, a joining device for joining the shaft with the mating parts, and a detaching device for removing the parts with the shaft assembled therewith from each of the parts mounting jigs, so that a series of operations for the assembly of the parts are automatically carried out.

United States Patent Yamamoto et al.

[451 Feb. 15,1972

[72] Inventors: Kiyokazu Yanmmoto, Kyoto; Masaru Kishirnoto,Kaizuka-shi; Susumu Ueuo,

Kadoma-shi; Hiroshl Fuiimoto, Hirakata- 3 shi; Kazutalra Hatamoto;Tadashi Kubota,

both of Osaka, all of Japan [73 Assignee: Matsushita Electric mam-mCo.,' Ltd.,

Osaka, Japan [221 Filed: Aug. l5, 1969 [21] Appl.No.: 850,449 J [30]Foreign Application Priority Data Dec. 7, 1968 Japan"; ..43/89792 Dec.7, 1968' ....43/s9793 Dec. 7, 1968 ....43/s9794 Dec. 7, 1968....43/s979s Dec. 7, 1968 ....43/89796 Dec. 7, 1968 ....43/s9797 Dec. 7,1968 ....43/s979s Dec. 7, 1968 Japan ..43/89799 s2 u.s.cr. /208R 51lnt.Cl. ..B23p 19/04 58 FieldofSearch ..29/20s,20sx,211,211c

[56] References Cited UNITED STATES PATENTS 2,995,810 8/1961 Wilson etal. ..29/208 3,065,530 1 1/1962 Merchant et 3,111,748 11/1963 Doll etal. ..29/208 Primary Examiner-Granville Y. Custer, Jr. Attorney-Stevens,Davis, Miller & Mosher [5 7] ABSTRACT Apparatus for automaticallyassembling or welding parts in the form of discs such as forming a rotorof a television tuner with a shaft. The apparatus comprises a pluralityof parts mounting jigs located at an equal distance from each other on aturntable driven intermittently, a shaft supply device located adjacentto the outside of the periphery of the turntable and adapted to supplyshafts to the respective jigs so as to be inserted into the parts heldin each of the jigs, a shaft position regulating device for causingrelative angular movement between the shaft and the mating parts so thatthe shaft is located at'a predetermined angular position with respect tothe parts, a shaft position detecting device adapted to detect the axialposition as well as the angular position of the shaft assembled to theparts, a joining device for joining the shaft with the mating parts, anda detaching device for removing the parts with the shaft assembledtherewith from each of the parts mounting jigs, so that a series ofOperations for the assembly of the parts are automatically carried out.

8 Claims, 21 Drawing Figures PATENTEDFEBISIQYZ 3.641.653

sum 010F15 PATENTEB FEB 15 I972 SHEET 0701'" 15 PATENIEBFEQ 15 Ian v3.641 .658 sum 08 0F 15 PATENT'ED FEB 15 m2 SHEET IOUF 15 INVENTORATTORNEY Pmmmrwmarz I 31.64.9653 saw 11UF15 PATENTEDFEBISIQIZ 3.641.653

SHEET 12UF 15 PATENTEDFEB 15 an 3,641 ,653 sum 15 [1F 15 INVENTORATTORNEY APPARATUSFOR AUTOMATIC ASSEMBLY OF A ROTOR AND THE LIKE Thepresent invention relates to an apparatus for automatically assemblingparts in the form of discs such as forming a rotor of atelevision tunerwith a shaft with the axial position and the angular position of theshaft being set at predetermined relative positions with respect to themating parts, respectively, so that the flow process for production ofthe assemblies is made extremelyefficient, while the stability in thequality of the thus completed assemblies is assured.

Heretofore, an assembly such as a rotor of a television tuner has beenproduced by positioning a pair of discs at a predetermined distancespaced from each other, manually inserting a shaft into the'hole of eachof the discs, rotating each of the discs so that a reference hole formedin each of the discs assumes a predetermined angular position withrespect to a eutout portion formed in the shaft while each of the discsis moved axially so that a reference grove formed in the shaft is spacedpredetermined axial distances from the respective discs, and thereafter,joining the discs with the shaft by means such as a spot-weldingmachine.

Such a procedure is, however, very troublesome in operation and requiresa long working timeand sufiicient skill and experience of the operatorare necessary for carrying out the assembly of the rotors, therebyresulting in the reduction in the number of the assemblies produced perunit time so that the efficiency of the operation is very low.

. .The' present invention aims at avoiding the above describeddisadvantages of the prior art.

An object of the present invention is to provide a novel and usefulapparatus for automatically assembling parts such as forming a rotor ofa television tuner.

Another object of the present invention is to provide an apparatus-ofthe type described above which makes it possible to produce theassembliesvery efficiently in the flow process of the production thereofwhile the quality of the thus-made assemblies is kept superior andstable.

A further object is to provide an apparatus of the type described abovein which a plurality of parts to be assembled together are successivelysupplied to respective jigs mounted on a turntable so that the parts ineach of the jigs are assembled, the assembled parts being joinedtogether by means such as welding and caulking, thereby permitting theassemblies to be completed successively.

Still further object of the present invention is to provide an apparatusof the type-described above in which the parts are successively suppliedto each of the jigs on the turntable from a supply station locatedadjacent to the outside of the tumtable each time the same hasbeenintermittently rotated a unit angle corresponding to the location of thejigs and means is provided for detecting the quality of the assemblies,the detecting means being so actuated that, in case an inappropriateassembly is detected, the steps to follow the detecting step areautomatically stopped so that production of improper assemblies isprevented.

Another object of the present invention is to provide a novel and usefuljoining device for use with the apparatus for assembling the parts asdescribed above, in which the joining forces to be applied to the partsto be joined together are applied symmetrically and evenly from theopposite directions so that the parts held in the jig are prevented frombeing subjected to any undesired resultant force which might causerelative movement of the parts thereby resulting in inaccurateassembling of the parts.

Another object of the present invention is to provide a novel and usefuljig for use in an apparatus for assembling parts such as forming arotor'of a television tuner in which the parts such as discs are held inpositions so as to be assembled with a shaft with the axial position aswell as the angular position of each of the discs with respect to theshaft being automatically set at predetermined positions, respectively.

Still another object of the present invention is to provide a novel anduseful device for properly inserting a shaft into parts such as discsforming a rotor of a television tuner, the device being adapted to beconveniently used with an apparatus for assembling the rotor with theaxial position and the angular position of each of the discs withrespect to the shaft being set at predetermined positions, respectively,which device is simple in construction and accurate in operation forsmoothly feeding one shaft at onetime and properly inserting in theparts to be assembled therewith.

A further object of the present invention is to provide a novel anduseful device for regulating the angular position of a shaft withrespect to parts to be assembled therewith such as discs forming a rotorof a television tuner, in which the shaft previously inserted at anyrelative angular position into the parts located in a jig at apredetermined angular position is positively rotated to a predeterminedangular position so as to set the shaft at a proper angular position.

Still further object is to provide a novel and useful device foraccurately and quickly detecting the angular position of a shaft withrespect to parts such as discs forming a rotor of a television tunerwhich are previously located in a jig at a predetermined angularpositions, in which the shaft is to be set in the discs at apredetermined axial position as well as at a predetermined angularposition with respect to the discs, the

device being adapted to carry out the investigation in a simple mannerwhether or not the shaft is properly inserted in the parts after theangular position of the shaft has been corrected in the preceding step.

Another object is to provide a novel and useful detaching device for usewith an apparatus for automatically assembling successively assembliessuch as rotors of a television tuner comprising discs into which a shaftis inserted and set at a predetermined axial position as well as at apredetermined angular position with respect to the discs, the devicebeing compact in size and simple in construction and adapted to smoothlyand positively removing each of the assemblies from the respective jigsin the apparatus even though each of the assemblies is engaged with therespective jigs in the lateral direction thereof so that the assemblycan not be lifted directly from the jig.

These features and advantages of the present invention will becomefurther apparent'from the following detailed description when consideredin conjunction with the accompanying drawings, in which:

FIGS. 1 and 2 are views showing the manner how a part such as a shaft isassembled with the mating parts such as discs in the predeterminedrelative positions to each other;

FIG. 3 is a plan view showing the general construction of an embodimentof the apparatus in accordance with the present invention; I

FIG. 4 is a fragmentary view showing an embodiment of the parts-mountingjig used in the apparatus of the present invention;

FIG. 5 is an elevational view of FIG. 4;

FIG. 6 is an end view of FIG. 4;

FIG. 7 is a fragmentary view partly in cross section showing anembodiment of the shaft supply station used in the apparatus of thepresent invention;

FIG. 8 is an end view partly in cross section as seen from the right inFIG. 7;

FIG. 9 is a fragmentary view partly in cross section showing anembodiment of the shaft position regulating device used in the apparatusof the present invention;

FIG. 10 is a cross-sectional view taken along line XX in FIG. 9;

FIG. 11 is a fragmentary end view showing an example of theconfiguration of the outer end of the shaft position regulating head pinused in the device of FIG. 9;

FIG. 12 is a fragmentary view showing an embodiment of the shaftposition detecting device used in the apparatus of the presentinvention; v

FIG. 13 shows the manners how the shaft position detecting head pin ofthe device shown in FIG. 12 is stopped at various positions dependingupon the conditions of the shaft to be assembled with the discs mountedin each turntable;

FIG. 14 shows an electric circuit used in the device of FIG. 12;

FIG. 15 is a block diagram showing the shift resister used in the deviceof FIG. 12;

FIG. 16 is an elevational view showing an embodiment of the joiningdevice used in the apparatus of the present invention;

FIG. 17 is a side view of the device of FIG. 16;

FIG. 18 is a fragmentary plan view showing an embodiment of thedetaching device used in the apparatus of the present invention;

FIG. 19 is a cross-sectional view taken along the axis of the liftingrod of the device of FIG. 18;

FIG. 20 is a side view ofthe device of FIG. 18; and

FIG. 21 is an end view as seen from the left in FIG. 20.

Referring to FIGS. 1 and 2, an example of the assembly which isassembled by the apparatus of the present invention is shown.

The assembly comprises a pair of discs 1, 1a coaxially spaced apredetermined distance from each other, a shaft 2 inserted into a centerhole of each of the discs 1, la and secured thereto at point a in thehub of each of the discs 1, 1a by means such as spot welding. Each ofthe discs 1, la is provided with a reference hole b and the shaft 2 isprovided with a cutout portion c at one end thereof so that the angularposition of each of the discs 1, la relative to the shaft 2 is properlyset by setting the angle a formed between the line joining the hole band the center of each of the discs 1, 1a and the line normal to thecutout portion c and passing through the center of each of the discs 1,1a to a predetermined angle. The shaft 2 is also provided with anannular groove d adjacent to the one end thereof so that the distancebetween the two discs 1, 1a as well as the relative axial position ofeach of the discs 1, la with respect to the shaft 2 is properly set bysetting the distance 1 between the annular groove d of the shaft 2 andthe disc 1 and the distance 1 between the annular groove d and the disc1 to predetermined lengths, respectively, as shown.

The general construction of an embodiment of the apparatus of thepresent invention for assembling the assembly as shown in FIGS. 1 and 2is shown in FIG. 3.

In FIG. 3, main body 3 of the apparatus carries therein a turntable 4rotatably supported by the main body 3 and adapted to be intermittentlydriven in the direction indicated by arrow e a predetermined angle bymeans of a driving mechanism not shown.

The turntable 4 carries thereon a plurality of parts mounting jigsadjacent to the outer periphery of the turntable 4 equally spaced fromeach other. The spacing of the adjacent two jigs 5 is made to correspondto the angle of the intermittent rotation of the turntable 4.

A pair of discs 1, 1a are manually supplied to the respective jigs 5 byan operator M in properly spaced relation to each other with the angularposition of each of the discs 1, la being set properly by the jig eachtime the turntable is rotated and one ofthe jigs Sis positioned in frontof the operator M.

A signal is generated each time the operator M has supplied the discs 1,1a to the respective jigs 5 so that the turntable 4 is rotated by thepredetermined angle for the next operation of the operator M.

A shaft supply device 6, a shaft position regulating device 7, a shaftposition detecting device 8 and a joining device 9 such as a weldingdevice are located in the main body 3 around the outer periphery of theturntable 4 adjacent thereto in that order in the direction of theintermittent rotation of the turntable 4. The spacing between theadjacent two devices described above as well as the spacing between theposition at which the operator M is operating and the shaft supplydevice 6 is made to correspond to the spacing between the adjacent twojigs 5 in the turntable 4 so that each time the turntable 4 is rotatedand stopped, the respective jigs 5 are located in alignment with therespective devices 6, 7, 8 and 9.

of the jigs on the Another joining device 9a is located adjacent to theouter periphery of the turntable 4 spaced from the joining device 9 byan angle twice as great the predetermined angle by which the turntable 4is intermittently rotated.

The joining device 9 which is shown as being a welding device isdetermined to secure the shaft 2 to the disc 1a, for example, by usingwelding tips 10 while the other joining device 9a is determined tosecure the shaft to the other disc 1 as described in detail hereinafter.

A detaching device 11 for detaching the completed assembly from therespective jigs 5 is located adjacent to the outer periphery of theturntable 4 spaced from the joining device 912 by the anglecorresponding to the angle of intermittent rotation of the turntable 4.A chute 12 is provided adjacent to the detaching device 11 fordischarging the assembly removed by the detaching device 1 1 from therespective jigs 5 out of the apparatus of the present invention.

As described in detail hereinbelow, the apparatus of the invention is sooperated that each time the intermittent rotation of the turntable 4 iseffected by the signal generated by the supply of the discs 1, 10 intothe respective jigs 5 by the operator M, the shaft supply device 6supplies a shaft 2 into the discs 1, 1a which have been loaded in thejigs 5 facing to the shaft supply device 6, the shaft positionregulating device 7 actuates the shaft 2 having been inserted in thediscs 1, 1a in the jig 5 which is now in alignment with the shaftposition regulating device 7 so as to be properly positioned withrespect to the discs 1, In as indicated in FIGS. 1 and 2, the shaftposition detecting device 8 is engaged with the jig which is inalignment with the detecting device 8 and detects whether or not a shaft2 has been actually inserted and, if so, whether or not the shaft 2 isproperly positioned in the discs 1, 1a in the angular and axialpositions with respect thereto so as to generate signals to actuate thejoining devices 9, 9a only when the shaft 2 is properly set and the jigcarrying the thus detected shaft 2 is brought to the respective joiningdevices 9, 9a, and each of the joining devices 9, 9a is actuated by thesignal supplied from the detecting device 8 so as to secure the shaft 2to the respective discs 1, 1a, while the detaching device 11 is actuatedso that the finished assembly of the discs 1, la with the shaft 2 isremoved from the jig 5 facing to the detaching device 11 and taken outfrom the apparatus through the chute 12. All these steps are carried outin synchronism with each other each time the turntable 4 has beenrotated by the signal generated by the loading ofthe discs 1, 1a in thejig 5 facing to the operator M.

In the drawing, the number of discs 1, 1a is shown as being two, but itis apparent any number of the discs desired may be assembled by theapparatus of the present invention.

Also, the number of the jigs 5 is shown as being eight, but any desirednumber of jigs may be employed in accordance with the present invention.

Now, detailed description of each of the parts-mounting jigs 5, theshaft supply device 6, the shaft position regulating device 7, the shaftposition detecting device 8, the joining devices 9, 9a and the detachingdevice 11 will be given hereinbelow in connection with FIGS. 4-20.

Parts-Mounting Jig In FIGS. 4-6, the parts-mounting jig 5 comprisessupport plates 13, holding device 14 and shaft stopper device 15. Thesupport plates 13 are secured to mounting plate 16 which in turn ismounted in position on the turntable 4, while holding device 14 isshiftably supported in the mounting plate 16 as hereinafter described soas to resiliently hold the discs 1, la mounted in the support plates 13.

Each of the support plates 13 comprises a bracket 17 having adisc-receiving recess 17a for snugly receiving the disc 1 or la and aV-shaped cutout portion 17c (FIG. 6) in the center of the upper endthereof for passing therethrough the shaft 2, a reference pin 18 securedto the bracket 17 for engaging with the reference hole b of the disc 1or In so as to properly set the angular position of the disc 1 or lareceived in the recess 17a and a pair of magnets 19 embedded in thebracket at positions 17b. When the operator M supplies the discs 1, lain the respective recesses 17a with the reference pins 18 engaged withthe respective reference hole b in the discs 1, 1a, respectively, eachof the discs 1, la is held in proper position by means of the magnets19.

The holding device 14 serves to hold the respective discs 1, 1a so as toprevent them frombeing disengaged from the surfaces 17b of the bracket17 when the joining devices 9, 9a are actuated. The holding device 14comprises a spring 20, L- shaped biasing plates 21 and a supporting rod22 on which the biasing plates 21 are mounted, and lever means 23swingably mounted on the mounting plate 16 as shown. The spring 20normally urges'the rod 22 toward the-right in FIG. 4 so that the biasingplates 21 are urged against the brackets 17 thereby resiliently holdingthe discs 1, 1a therebetween. The rod 22 is provided with a small pin22a at its one end adjacent to the lever 23 and the small pin 22aengages with the bifurcated end of the lever 23 so that, when the lever23 is actuated by a cam 23a as shown in FIG. 4 after the joining device9a is actuated, the rod 22 is moved toward the left in FIG. 4 againstthe action of the spring 20 so that the biasing plates 21 are disengagedfrom the discs 1, la.

The stopper device 15 comprises shaft position regulating pawl member 24having pins 25, 25a secured thereto. A shiftable rod 26 is relativelymovably engaged with the pawl member 24 through springs 27. A swingablelever 28 is provided for cooperating with cam 29. The lever 28 ispivoted at 28a as shown, and a pin 26a provided at the outer end ofshiftable rod 26 engages with the bifurcated end of the lever 28 sothat, when the lever 28 is swung by the engagement thereof with theraised portion of the cam 29, the shiftable rod 26 is moved toward theleft in FIG. 6 thereby permitting the pawl member 24 to be driven intoengagement with the annular groove d of the shaft 2 when the shaft 2 isinserted into the discs 1, 1a located in the jig 5. This permits theshaft 2 to be held in proper axial position with respect to the discs 1,1d and prevents it from being moved by the centrifugal force caused bythe intermittent rotation of the turntable 4.

' As seen in FIG. 6, the pawl member 24 is axially slidably supportedbetween a pair of brackets 30 with the pins 25, 25a of the pawl member24 slidably engaged with elongated holes 30a formed in the brackets 30.The elongated holes 30a also serve to limit the axial movement ofthepawl member 24.

The shaft stopper device 15 is actuated so as to hold the shaft 2 by thecam 29 immediately after the shaft2 is inserted into the discs 1, 1a bymeans of the shaft supply device 6 and, after the joining device 9a isactuated, the shaft stopperdevice 15 is loosened.

A stopper 31 is provided in the mounting plate 16 for limiting the axialmovement of the shaft 2 serted in the discs 1, 1a.

As described above, when the shaft 2 is inserted in the discs 1, In bythe shaft supply device 6 and the pawl member 24 is engaged with theannular groove d of the shaft 2, the axial position of the shaft 2 withrespect to the discs 1, 1a is properly maintained.

when the same is in- Shaft Supply Device The shaft supply device isshown in FIGS. 7 and 8. It comprises chute means 32, lateral feed means33 and shaft-inserting punch means 34. Each of the shafts 2 suppliedfrom the chute means 32 is moved by the lateral feed means 33 from thefeeding center B in the chute means 32 to inserting center A in theshaft-inserting punch means 34, so that the shaft 2 thus laterally fedis inserted by the shaft-inserting punch means 34 into the discs 1, 1amounted in the jig 5 aligned with the shaft-inserting punch means 34.The shaft 2 arranged in the chute means 32 next to the shaft 2 which hasbeen laterally fed by the lateral feed means 33 is held on the surface cof the feeding head 35 of the lateral feed means 33 between the twochute plates 36 of the chute means 32 and, after the head 35 is movedback, the shaft 2 held in the surface c falls into groove 35a of thehead 35 so as to be fed laterally by the next operation of the feedmeans 33 thus permitting one shaft 2 to be driven laterally each timethe feed means 33 is actuated.

The feeding head 35 is mounted on shiftable block 37 which in turn isslidably guided by guide rods 38 supported by means of brackets 39, 40.The block 37 is reciprocally driven by means of a cylinder 41 operablyconnected to the block 37 so that the groove 35a of the head 35 isrepeatedly moved between the center positions A and B.

A support plate 42 secured to the serves to prevent the shaft 2 in themoved upwardly therefrom when the position A.

The shaft-inserting punch means 34 comprises a shaft-inserting punch 43,a guide block 44 therefor, a punch holder 45 and a shaft-insertingcylinder 46 having a piston rod 46:: connected to the punch holder 45 soas to drive the punch 43. A spring 47 is interposed between the punch 43and the punch holder 45 so as to provide a cushioning effect when theshaft 2 is driven into the discs 1, 1a by the punch 43. One or moreguide rods 48 secured to the punch holder 45 and slidably engaging withthe bracket on which the cylinder 46 is mounted serve to guide the axialmovement of the piston rod 46a.

Interchangeable stopper 49 secured to the bracket 44 serves to limit thestroke of the piston rod 46a as desired.

top of the bracket 40 groove 350 from being same is fed to the centerShaft Position Regulating Device The shaft position regulating device isshown in FIGS. 9-11.

The shaft position regulating device comprises a shaft positionregulating head 50 and a shaft-rotating device 51. By the shaft positionregulating device, the shaft 2 inserted in the discs 1, 1a is rotated sothat the angular position of the cutout portion 0 of the shaft 2 isproperly set with respect to the reference hole b of the respectivediscs 1, described in connection with FIGS. 1 and 2.

The shaft position regulating head 50 comprises a shaft positionregulating head pin 52, a regulating plate 53 mounted on the cutoutportion in the side surface at the outer end of the head pin 52, aholding rod 54 resiliently connected to the head pin 52 so as to permitthe axial movement thereof with respect to the holding rod 54 in apredetermined amount, a connecting block 55 rotatably connected to therod 54, a cylinder 56 operatively connected to the connecting block 55so as to reciprocally drive the holding rod 54, and a pair of holdingbrackets 57 for slidably guiding the holding rod 54. The holding rod 54is rotatably connected to the connecting block 55 but is prevented frombeing moved axially relative thereto so as to drive the holding rod 54by means of the cylinder 56 through the connecting block 55.

The shaft-rotating device 51 comprises a pinion 58 axially slidablerelative to the holding rod 54 between the brackets 57, the pinion 58being prevented from rotating relative to the rod 54 by the engagementof a key 54 secured to the rod 54 with an axial keyway formed in thehole of the pinion 58 as shown, a rack 59 engaging with the pinion 58and a cylinder 60 operably connected to the rack 59 so as to rotate thepinion 58 through the rack 59. As shown in FIG. 10, the rack 59 isprovided with a key 590 which is slidably engaged with a keyway formedin the hole of a bracket 57a slidably receiving the rack 59 so that therack 59 is prevented from being rotated about its own axis.

As shown in FIGS. 9 and 11, a recessed portion 52b is formed at theouter end of the shaft position regulating head pin 52 surrounded bysemicircular cylindrical wall 52a of the head pin 52 and the regulatingplate 53 so that the end of the shaft 2 at which the cutout portion c isformed is snugly received by the recessed portion 52b without permittingthe relative rotation therebetween.

The operation of the shaft position regulating device 7 is as follows.By the operation of the cylinder 56, the shaft position regulating headpin 52 is advanced through the piston rod 56a.

10 as previously If the end of the shaft 2 is not received in therecessed portion 52b of the head pin 52, the end surface E of the headpin 52 abuts against the end surface D of the shaft 2 and might causethe buckling of the shaft 2. A spring 61 interposed between the head pin52 and the holding rod 54 provides the cushioning therebetween so thatsuch a buckling is prevented.

After the end surface E of the head pin 52 abuts against the end surfaceD of the shaft 2 and the advance of the holding rod 54 is stopped by theabutting of the connecting block 55 against a stopper 62 mounted on thebracket 57, the cylinder 60 is actuated so as to rotate the holding rod54 through the rack 59 and the pinion 58. In order to rotate the headpin 52 together with the rod 54 while allowing the relative axialmovement therebetween, a key 63 is provided on the pin 52 which slidablyengages with a keyway formed in the hole of the rod 54 slidablyreceiving the pin 52. As the pin 52 is rotated, the recessed portion 52bof the pin 52 will snugly receive the end of the shaft 2 so as to rotatethe shaft 2 together with the pin 52. By appropriately determining thestroke of the cylinder 60, the shaft 2 is rotated to a predeterminedangular position with respect to the discs 1, la, since the discs 1, 1aare prevented from rotating by the engagement of the reference holes bin the discs 1, 1a with the reference pins 18 of the jig 5.

In order to easily rotate the rod 54 without undue resistance caused bythe thrust acting on the connecting block 55, double thrust bearings 64are provided in the connecting block 55 as shown in FIG. 9. Bush 65 isinterposed between the connecting block 55 and the holding rod 54.

The stopper 62 is interchangeable so that the stroke of the holding rod54 is made adjustable. I

In order to adjust the stroke of the rack 59, an adjustable stopper 66is provided on the rack 59, which abuts against a stationary portion inthe main body 3 (not shown) when the rack 59 is driven by the cylinder60 so that the amount of the rotation of the pinion and hence theholding rod 54 is limited to the desired value.

Shaft Position Detecting Device The shaft position detecting device isshown in FIG. 12. As shown, a cylinder 67 is mounted on a bracketsecured to the mounting plate 670 which in turn is secured to the mainbody 3. A detecting head pin 68 carrying a detecting plate 69 on theouter end thereof is interchangeably secured to a holder 70 with theangular position thereof relative to the holder 70 being determined by apin 680 secured to the pin 68 engaging with a slot 70a formed at the endof the holder 70. One or more guide rods 71 are secured to a bracket 70awhich in turn is secured to the holder 70. A main rod 72 connected tothe piston rod 67a of the cylinder 67 is slidably guided in a hole of abracket 72a secured to the mounting plate 670. The holder 70 isresiliently and axially movably received in a hole of the main rod 72 bythe interposition of a spring 73. Thus the head pin 68 is axially movedby the actuation of the cylinder 67 with the cushioning effect providedbetween the head pin 68 and the main rod 72 by means of the spring 73.

The angular position of the detecting plate 69 is so determined that,when the cutout portion of the shaft 2 is located properly, thedetecting plate 69, when advanced by the actuation of the cylinder 67,engages with the cutout portion 0 as shown in FIG. 13A so that the tipof the detecting plate 69 is stopped at position Y. On the other hand,if the angular position of the cutout portion 0 of the shaft isimproper, the tip of the detecting plate 69 abuts against the tip of theshaft 2 so that the tip of the detecting plate 69 is stopped at positionX as shown in FIG. 138, while, if no shaft 2 is loaded in the jig 5, thehead pin 68 is allowed to freely move the maximum stroke so as to bestopped at position Z in FIG. 13C. Thus, the existence and the angularlocation of the shaft 2 is detected by detecting the position of thehead pin 68 when it has been advanced by the cylinder 67.

The head pin 67 and the detecting plate 69 are interchangeable so thatany shape and angular position of the shaft 2 can be detected byselecting the suitable pin and plate.

In order to detect the position of the head pin 68 so as to detect theposition of the shaft 2, limit switches LS1 and LS2 are providedadjacent to one of the guide rods 71 which are operated when they aredisengaged from the guide rod 71 and which are electrically connected inan electric circuit shown in FIG. 14. The limit switch LS1 is a normallyopened switch while the limit switch LS2 is a normally closed switch,and the location of each of the limit switches LS1 and LS2 with respectto the guide rod 71 is so determined that, when the head pin 68 isadvanced together with the guide rods 71 and stopped at position Y inFIG. 13A, only the limit switch LS1 is disengaged from the guide rod 71so as to be closed so that the electric circuit is closed, whereas, whenthe head pin 68 is advanced to the position Z in FIG. 13B, both theswitches LS1 and LS2 are disengaged from the guide rod 71 so that theelectric circuit is opened by the opening of the normally closed switchLS2, while the electric circuit remains in opened state when the headpin 68 is stopped at the position X in FIG. 13C. Thus, a signal isgenerated in the electric circuit only when the head pin 68 is stoppedat the position Y, i.e., when the shaft 2 is properly positioned in thejig 5.

The electric circuit comprises a timing switch CS1 and the limitswitches LS1, LS2 and a relay CR1 connected in series. A capacitor CR1-ais connected in parallel to the combination of switches LS1, LS2 asshown. Electric voltage E is applied to the terminal of the timingswitch CS1 and the terminal of the relay CR1 as shown. The signal Igenerated by the relay CR1 when the head pin 68 detects the properpositioning of the shaft 2 is supplied to a shift register comprising aplurality of flip-flop circuits F,F as shown in FIG. 15. At the sametime, a pulse signal S is supplied to the shift register each time theturntable 4 has been rotated, i.e., each time the shaft positiondetecting device 8 is actuated, so that output signals F F are suppliedto the respective joining devices 9, 9a from the second and fourthflip-flop circuits each time the jig 5 carrying thereon the correctlypositioned shaft 2 reaches the respective joining devices 9, 9a therebypermitting the joining devices to be operated. However, when the shaftposition detecting device 8 detects the improper positioning of theshaft 2 or nonexistence of the shaft 2 in the jig 5, no signal issupplied to the shift register thereby preventing the joining devices 9,9a from being operated. In other words, the joining device 9 can beoperated only by the output signal P, and the joining device 9a can beoperated only by the output signal F Thus, it will be easily understoodthat any shaft and disc which have not been served for assembling sincethe device 8 detected the improper positioning of the shaft 2, can bereused again. It will also be understood that by the use of another typeof shift register the detaching device 11 can be arranged to becomeinoperative when the device 8 will detect the improper positioning ofthe shaft 2.

Joining Device The joining device 9 is similar in construction to thejoining device 9a except that the former is adapted to secure the disc1a to the shaft 2 while the latter is adapted to secure the disc I tothe shaft 2.

The construction of one embodiment of the joining device of the presentinvention is shown in FIGS. 16 and 17.

In FIGS. 16 and 17, the jig 5 carrying thereon the discs 1, 1a and theshaft 2 assembled therewith and mounted on the turntable 4 is shown inalignment with the joining device 9a mounted on the main body 3. Thejoining device 9a comprises a bracket 76 which overhangs the jig 5. Avertically movable frame 77 is located under the overhanging portion ofthe bracket 76 and is operably connected to a cylinder 78 secured to theoverhanging portion of the bracket 76 through a piston rod 78a slidablypassing through the overhanging portion of the bracket 76 as shown inFIG. 16. A pair of guide rods 79 are

1. Apparatus for automatic assembly of a rotor and the like comprising ashaft inserted into a plurality of spaced parts such as discs andfixedly secured thereto with predetermined axial and angular relativepositions held therebetween, wherein the improvement comprises aturntable intermittently rotated a predetermined angle and having aplurality of parts-mounting jigs fixed thereon at equal angular distancefrom each other along the peripheral zone of the turntable, the angulardistance beIng made to correspond to the predetermined angle by whichthe turntable is intermittently rotated, a shaft supply device forinserting a shaft into the parts held in positions in the respectivejigs to a predetermined axial position relative to the parts, a shaftposition regulating device for rotating the thus-inserted shaft relativeto the parts into which the shaft has been inserted so as to properlyposition the shaft angularly with respect to the parts, a shaft positiondetecting device for detecting the axial and the angular positions ofthe shaft with respect to the parts so as to generate a signal only whenthe shaft is properly positioned with respect to the parts, at least onejoining device for securing the shaft to the parts, and a detachingdevice for removing the thus-assembled parts from the respective jigs,all said devices being arranged in that order along the periphery ofsaid turntable at positions at which the respective jigs are stoppedeach time the turntable has been intermittently rotated, therebypermitting the series of the operations to be carried out insynchronism.
 2. Apparatus according to claim 1, wherein a shift registeris provided which receives the signal from the shaft position detectingdevice and also receives a signal which is generated by thepredetermined angular rotation of the turntable, said shift registersupplying an output signal to the joining device only when both thesignals are supplied to the shift register thereby permitting thejoining device to be actuated only when the parts in the jig areproperly positioned to each other.
 3. Apparatus according to claim 1,wherein the joining device comprises a pair of tools each mounted onshiftable shafts adapted to be moved in parallel to each other, one ofthe shiftable shafts being connected to a piston rod of a cylinder,while the other of the shiftable shafts is attached to the body of thecylinder.
 4. Apparatus according to claim 1, wherein said jig comprisespart-supporting portions each having magnet means for fixedly securingthe part to be assembled to the supporting portion, part-urging portionseach adapted to urge the part to said supporting portion for holding thepart on said supporting portion, and a shaft-stopping means for locatingthe shaft inserted into the parts to be assembled therewith at a properaxial position of the shaft with respect to the parts by engaging withthe groove formed in the shaft.
 5. Apparatus according to claim 1,wherein said apparatus comprises a chute adapted to supply a shaft inthe horizontal position of the shaft each time the turntable isoperated, a transporting member located adjacent to the discharge end ofthe chute and laterally reciprocated so as to transport thethus-supplied shaft laterally, said member having a groove in which theshaft is engaged, and a shaft-pushing means for axially moving the shaftengaged in the groove and having been laterally transported throughspring means.
 6. Apparatus according to claim 1, wherein said shaftposition regulating device comprises an angular position regulating pinof the shaft which snugly fits with the end of the shaft having anirregular cross-sectional configuration, a holding rod supporting saidpin through resilient means allowing the relative axial movementtherebetween, a shifting means for axially driving said holding rod, anda rotating means for giving a torque to said angular position regulatingpin, thereby permitting the shaft to be rotated to a predeterminedangular position with respect to the parts to be assembled with theshaft.
 7. Apparatus according to claim 1, wherein said shaft positiondetecting device comprises a shaft position detecting head pin with thetip thereof snugly fitting with the end of the shaft having theirregular cross-sectional configuration, and a driving means for axiallymoving said head pin through resilient means, means being provided forpreventing the rotation of the head pin.
 8. Apparatus according to claim1, wherein saiD detaching device comprises a rotatable and verticallymovable arm on which an assembly clamping device is shiftably mounted soas to be shifted in a predetermined range with respect to the arm,rotating means for rotating said arm, lifting means for verticallymoving upwardly and downwardly said arm, a moving mechanism beingprovided which is coupled with a mechanism to operate the clampingdevice for clamping the assembly in the first part of the stroke of saidmoving mechanism, while the same is coupled with another mechanism forshifting said clamping device with respect to the arm in the last partof the stroke of the moving mechanism, and driving means being providedfor driving said moving mechanism.